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研究生:蕭智謙
研究生(外文):Jhih-Cian Siao
論文名稱:手部關節復健裝置之研發
論文名稱(外文):Development of the hand joint rehabilitation device
指導教授:欒家敏欒家敏引用關係黃錫泉黃錫泉引用關係
指導教授(外文):Jar-Miin LuanHsi-Chuan Huang
學位類別:碩士
校院名稱:建國科技大學
系所名稱:自動化工程系暨機電光系統研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2013
畢業學年度:101
語文別:中文
論文頁數:125
中文關鍵詞:手指關節復健裝置嵌入式系統
外文關鍵詞:Finger jointsRehabilitation devicesEmbedded systems
相關次數:
  • 被引用被引用:2
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  • 下載下載:23
  • 收藏至我的研究室書目清單書目收藏:1
手部受傷患者在肢體行為上失去行動能力,若長期未自主復健或施予外力復健,患者肢體上將會出現功能障礙,更進一步會導致殘障情形,因此有效的復健能增加患者關節活動力,方可維持肌肉耐久力。目前復健醫療大都由物理治療師進行外力復健協助,為降低物理治療師的工作負擔,同時提供復健過程的量化數據給醫師作為診斷參考。
本研究開發一套手部關節復健裝置系統,該復健裝置主要整合機構與控制技術,機構設計部分利用微型減速馬達搭配螺桿作為驅動裝置,並帶動連桿機構進行連動作用於手指板件上,藉由手指板件帶動手指進行屈曲和伸展的動作。操作介面係使用嵌入式系統,以觸控方式輸入操作條件,功能模式有手動、自動、參數設定及數值存取,以及復健裝置上有裝設角度、位移及力量感測器,將感測訊號回傳至嵌入式系統進行資料記錄。
本論文完成手部關節復健裝置之建置並實體連線實驗,實際穿戴復健裝置量測手指屈曲的角度變化,結果顯示透過微型減速馬達旋轉帶動連桿機構的作動,確實能夠讓手指達到屈曲的效果,而各手指總關節活動度食指為110 °、中指為95 °、無名指為100 °、小指為70 °與拇指為50 °,以及復健過程中復健裝置可提供1.5 N ~ 4.5 N的施力。整套系統有效提高患者的手指活動能力,另外量化數據可提供復健醫師進行治療診斷參考,並符合復健醫師的需求。

The hand injured patients who have lost their ability of the action of limbs movements. The dysfunction of the limbs of the patients might be happened or leading the cause of disability, if a self-conscious or external force of the rehabilitation has not been carried on for injured hand joints for the long term. It has been proven that an effective rehabilitation could improve the activities of the patient’s hand joints so as to maintain muscle durability consequently. Actually, the rehabilitation of the hand joints have been carried out by physiotherapists and being with the help of performing an external force at present. For the purpose of reducing the work load of the physiotherapists as well as providing doctors with the useful quantification data, which has been obtained during the processes of the rehabilitation, as the diagnosis reference when they are on duty.
This research has developed a set of finger rehabilitation system and being integrated with mechanism &; control technology in it eventually. With regards to mechanism design, by using the micro-reduction gear motor along with screw bolt work as the driven device so as to lead the linkage mechanism for linking the operation of finger panels. And through the help of finger panels, the action of the hand finger’s flexion &; extension of patient's can be guided by the finger joint rehabilitation device eventually. As for the operation interface, it really is with embedded system. And its operation terms are entered through the help of the touch panel. Moreover, the function modes are having manual operation, automatic operation, parameter setting and the access of numerical values included. In addition, there are sensors of angle, displacement and force being installed on rehabilitation device so as to sense the signals and sending them back to embedded system for proceeding to process of data recording eventually.
This research has accomplished the establishment of hand joint rehabilitation device and the physical on-line experiments. And it is done by wearing the rehabilitation device so as to measure the angle changes of finger’s flexion practically. The result shows that with the help of the running of the micro reduction gear motor, the linkage mechanism’s operation is leaded so as to let the finger joints have effective actions of flexion and extension. And the total range of motion of each of the finger joints are 110∘for index finger, 95∘for middle finger, 100∘for third finger, 70∘for little finger and 50∘for thumb respectively. Moreover, the rehabilitation device could provide 1.5 N ~ 4.5 N of force strength for rehabilitation. The whole system effective improving the activities of the finger joints of the patients, in addition to provide physiotherapists with the useful quantification data as the diagnosis reference when they are on duty and it is proven to be met the demands of physiotherapists.

摘要 I
Abstract II
誌謝 IV
目錄 V
圖目錄 VIII
表目錄 XIII
第一章 緒論 1
1.1 研究動機 1
1.2 研究目的 2
第二章 參考文獻 3
2.1 手部組織結構與功能 3
2.2 連續被動性運動 8
2.2.1 手部復健機研究介紹 9
2.3 微控制器 13
2.4 控制系統 14
2.4.1 嵌入式系統 14
2.4.2 感測器元件 15
2.5 數值分析工具 16
第三章 手指關節復健裝置系統設計與建置 18
3.1 手部關節復健裝置建置 20
3.1.1 手指板件設計 23
3.1.2 連桿機構與驅動裝置設計 25
3.2 控制系統設計 27
3.2.1 主系統控制架構 28
3.2.2 子系統控制架構 30
3.2.3 嵌入式系統介面建置 32
3.2.4 微控制器介面操作使用 36
3.2.5 類比/數位訊號轉換功能 38
3.3 硬體電路設計與建置 40
3.3.1 電源穩壓電路 41
3.3.2 微控制器系統控制電路 42
3.3.3 位移感測器電路 44
3.3.4 輸出負載控制電路 47
3.3.5 RS-232串列傳輸電路 48
3.3.6 角度感測器電路 49
3.3.7 力量感測器電路 51
3.4 材料與設備 56
第四章 研究方法 60
4.1 系統整合測試 61
4.2 角度量測實驗 63
4.2.1 角度感測器校正 66
4.3 力量量測實驗 68
4.3.1 力量感測器校正 70
4.4 模型建構與應力分析 73
4.4.1 材料性質設定 75
4.4.2 邊界條件設定 75
4.4.2 網格建立 76
4.4.3 實驗設計 77
第五章 結果與討論 80
5.1 系統整合測試結果 80
5.2 角度量測實驗結果 85
5.3 力量量測實驗結果 88
5.4 模型建構與應力分析結果 92
第六章 結論與建議 105
6.1 結論 105
6.2 建議 106
參考文獻 107
附錄A 手部關節復健裝置實體圖 110


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